Lecture 21 of 41
Classical Planning:
STRIPS/ABSTRIPS and POP
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Strip - Artificial Intelligence - Lecture Slides, Slides of Artificial Intelligence
Some concept of Artificial Intelligence are Agents and Problem Solving, Autonomy, Programs, Classical and Modern Planning, First-Order Logic, Resolution Theorem Proving, Search Strategies, Structure Learning. Main points of this lecture are: Strip, Axioms, Partial-Order Planning, Limitations, Need For Abstraction, Hierarchical Abstraction, Exam Agreement, More Planning, Conditional and Reactive, Logical Representations
Typology: Slides
2012/2013
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Lecture 21 of 41
Classical Planning:
STRIPS/ABSTRIPS and POP
Lecture Outline
Today’s Reading
- Next Week’s Reading: Chapter 12, Russell and Norvig
- Previously: Logical Representations and Theorem Proving
- Today: More Classical Planning
- STRIPS axioms (review)
- Partial-order planning (NOAH, etc.)
- Limitations of POP
- Need for abstraction
- Hierarchical abstraction (ABSTRIPS)
- First Hour Exam: Wednesday 13 October 2004, in class
- Remote students: have exam agreement faxed to DCE
- Exam will be faxed to proctors Wed
- Next Week: More Planning – Conditional and Reactive
POP Algorithm [2]:
Subroutines and Properties
Clobbering and
Promotion / Demotion
Example: Blocks World [2]
POP Trace
Example:
Preconditions for Remaining Plan
Universal Quantifiers in Planning
- Quantification within Operators
- Chapter 11, R&N 2e
- Examples
- Shakey’s World
- Blocks World (R&N; also in Winston, Rich and Knight)
- Grocery shopping
- Others (from projects?)
- Exercise for Next Tuesday: Blocks World
Practical Planning
Adapted from Russell and Norvig
- The Real World
- What can go wrong with classical planning?
- What are possible solution approaches?
- Conditional Planning
- Monitoring and Replanning (Next Time)
Things Go Wrong
Adapted from slides by S. Russell, UC Berkeley
Solutions
Adapted from slides by S. Russell, UC Berkeley
Adapted from slides by S. Russell, UC Berkeley
Terminology
- Classical Planning Framework
- Planning versus search
- Representation: initial state, goal state / test, operators
- STRIPS Operators
- Components: preconditions, postconditions (ADD, DELETE lists)
- STRIPS and interference
- Clobbering / threatening
- Promotion / demotion
- Partial-Order Planners (POP systems)
- Next Week
- Hierarchical abstraction planning: ABSTRIPS
- Conditional plans
- Reactive plans and policies
- Markov decision processes